协方差参数的设置
主要确定mpu6050和odom编码器协方差参数的设置
参考:turtlebot_node协方差的设置
mpu605参数的设置
参考:https://github.com/Arkapravo/turtlebot/blob/master/turtlebot_node/src/turtlebot_node/gyro.py
self.imu_data.orientation_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
self.imu_data.angular_velocity_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
self.imu_data.linear_acceleration_covariance = [-1,0,0,0,0,0,0,0,0]
odom参数的设置
参考:
https://github.com/Arkapravo/turtlebot/blob/master/turtlebot_node/src/turtlebot_node/covariances.py
https://github.com/Arkapravo/turtlebot/blob/master/turtlebot_node/nodes/turtlebot_node.py
有两组协方差,在底盘运动时,取第一组数据;在底盘静止时,取第二组数据。
ODOM_POSE_COVARIANCE =[1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0,